OpenRaiser/Intern-Atlas huggingface dataset:
ROOAD: RELLIS Off-road Odometry Analysis Dataset
Venue: arXiv cs.RO 2022
Year: 2022

The development and implementation of visual-inertial odometry (VIO) has focused on structured environments, but interest in localization in off-road environments is growing. In this paper, we present the RELLIS Off-road Odometry Analysis Dataset (ROOAD) which provides high-quality, time-synchronized off-road monocular visual-inertial data sequences to further the development of related research. We evaluated the dataset on two state-of-the-art VIO algorithms, (1) Open-VINS and (2) VINS-Fusion. Our findings indicate that both algorithms perform 2 to 30 times worse on the ROOAD dataset compared to their performance in structured environments. Furthermore, OpenVINS has better tracking stability and real-time performance than VINS-Fusion in the off-road environment, while VINS-Fusion outperformed OpenVINS in tracking accuracy in several data sequences. Since the camera-IMU calibration tool from Kalibr toolkit is used extensively in this work, we have included several calibration data sequences. Our hand measurements show Kalibr's tool achieved +/-1 degree for orientation error and +/-1 mm at best (x- and y-axis) and +/-10 mm (z-axis) at worse for position error in the camera frame between the camera and IMU. This novel dataset provides a new set of scenarios for researchers to design and test their localization algorithms on, as well as critical insights in the current performance of VIO in off-road environments. ROOAD Dataset: github.com/unmannedlab/ROOAD
Ethics Sheet for Automatic Emotion Recognition and Sentiment Analysis
Venue: arXiv cs.CL 2022
Year: 2022

The importance and pervasiveness of emotions in our lives makes affective computing a tremendously important and vibrant line of work. Systems for automatic emotion recognition (AER) and sentiment analysis can be facilitators of enormous progress (e.g., in improving public health and commerce) but also enablers of great harm (e.g., for suppressing dissidents and manipulating voters). Thus, it is imperative that the affective computing community actively engage with the ethical ramifications of their creations. In this paper, I have synthesized and organized information from AI Ethics and Emotion Recognition literature to present fifty ethical considerations relevant to AER. Notably, the sheet fleshes out assumptions hidden in how AER is commonly framed, and in the choices often made regarding the data, method, and evaluation. Special attention is paid to the implications of AER on privacy and social groups. Along the way, key recommendations are made for responsible AER. The objective of the sheet is to facilitate and encourage more thoughtfulness on why to automate, how to automate, and how to judge success well before the building of AER systems. Additionally, the sheet acts as a useful introductory document on emotion recognition (complementing survey articles).
Stability Analysis of Planar Probabilistic Piecewise Constant Derivative Systems
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we study the probabilistic stability analysis of a subclass of stochastic hybrid systems, called the Planar Probabilistic Piecewise Constant Derivative Systems (Planar PPCD), where the continuous dynamics is deterministic, constant rate and planar, the discrete switching between the modes is probabilistic and happens at boundary of the invariant regions, and the continuous states are not reset during switching. These aptly model piecewise linear behaviors of planar robots. Our main result is an exact algorithm for deciding absolute and almost sure stability of Planar PPCD under some mild assumptions on mutual reachability between the states and the presence of non-zero probability self-loops. Our main idea is to reduce the stability problems on planar PPCD into corresponding problems on Discrete Time Markov Chains with edge weights.
Audio-Visual Collaborative Representation Learning for Dynamic Saliency Prediction
Venue: arXiv cs.CV 2022
Year: 2022

The Dynamic Saliency Prediction (DSP) task simulates the human selective attention mechanism to perceive the dynamic scene, which is significant and imperative in many vision tasks. Most of existing methods only consider visual cues, while neglect the accompanied audio information, which can provide complementary information for the scene understanding. In fact, there exists a strong relation between auditory and visual cues, and humans generally perceive the surrounding scene by collaboratively sensing these cues. Motivated by this, an audio-visual collaborative representation learning method is proposed for the DSP task, which explores the audio modality to better predict the dynamic saliency map by assisting vision modality. The proposed method consists of three parts: 1) audio-visual encoding, 2) audio-visual location, and 3) collaborative integration parts. Firstly, a refined SoundNet architecture is adopted to encode audio modality for obtaining corresponding features, and a modified 3D ResNet-50 architecture is employed to learn visual features, containing both spatial location and temporal motion information. Secondly, an audio-visual location part is devised to locate the sound source in the visual scene by learning the correspondence between audio-visual information. Thirdly, a collaborative integration part is devised to adaptively aggregate audio-visual information and center-bias prior to generate the final saliency map. Extensive experiments are conducted on six challenging audiovisual eye-tracking datasets, including DIEM, AVAD, Coutrot1, Coutrot2, SumMe, and ETMD, which shows significant superiority over state-of-the-art DSP models.
OTFS-superimposed PRACH-aided Localization for UAV Safety Applications
Venue: arXiv cs.NI 2022
Year: 2022

The adoption of Unmanned Aerial Vehicles (UAVs) for public safety applications has skyrocketed in the last years. Leveraging on Physical Random Access Channel (PRACH) preambles, in this paper we pioneer a novel localization technique for UAVs equipped with cellular base stations used in emergency scenarios. We exploit the new concept of Orthogonal Time Frequency Space (OTFS) modulation (tolerant to channel Doppler spread caused by UAVs motion) to build a fully standards-compliant OTFS-modulated PRACH transmission and reception scheme able to perform time-of-arrival (ToA) measurements. First, we analyze such novel ToA ranging technique, both analytically and numerically, to accurately and iteratively derive the distance between localized users and the points traversed by the UAV along its trajectory. Then, we determine the optimal UAV speed as a trade-off between the accuracy of the ranging technique and the power needed by the UAV to reach and keep its speed during emergency operations. Finally, we demonstrate that our solution outperforms standard PRACH-based localization techniques in terms of Root Mean Square Error (RMSE) by about 20% in quasi-static conditions and up to 80% in high-mobility conditions.
PAPIR: Practical RIS-aided Localization via Statistical User Information
Venue: arXiv cs.NI 2022
Year: 2022

The integration of advanced localization techniques in the upcoming next generation networks (B5G/6G) is becoming increasingly important for many use cases comprising contact tracing, natural disasters, terrorist attacks, etc. Therefore, emerging lightweight and passive technologies that allow accurately controlling the propagation environment, such as reconfigurable intelligent surfaces (RISs), may help to develop advance positioning solutions relying on channel statistics and beamforming. In this paper, we devise PAPIR, a practical localization system leveraging on RISs by designing a two-stage solution building upon prior statistical information on the target user equipment (UE) position. PAPIR aims at finely estimating the UE position by performing statistical beamforming, direction-of-arrival (DoA) and time-of-arrival (ToA) estimation on a given three-dimensional search space, which is iteratively updated by exploiting the likelihood of the UE position.
Load Balancing in Compute Clusters with Delayed Feedback
Venue: arXiv cs.DC 2022
Year: 2022

Load balancing arises as a fundamental problem, underlying the dimensioning and operation of many computing and communication systems, such as job routing in data center clusters, multipath communication, Big Data and queueing systems. In essence, the decision-making agent maps each arriving job to one of the possibly heterogeneous servers while aiming at an optimization goal such as load balancing, low average delay or low loss rate. One main difficulty in finding optimal load balancing policies here is that the agent only partially observes the impact of its decisions, e.g., through the delayed acknowledgements of the served jobs. In this paper, we provide a partially observable (PO) model that captures the load balancing decisions in parallel buffered systems under limited information of delayed acknowledgements. We present a simulation model for this PO system to find a load balancing policy in real-time using a scalable Monte Carlo tree search algorithm. We numerically show that the resulting policy outperforms other limited information load balancing strategies such as variants of Join-the-Most-Observations and has comparable performance to full information strategies like: Join-the-Shortest-Queue, Join-the-Shortest-Queue(d) and Shortest-Expected-Delay. Finally, we show that our approach can optimise the real-time parallel processing by using network data provided by Kaggle.
Taxonomy and Survey on Remote Human Input Systems for Driving Automation Systems
Venue: arXiv cs.RO 2022
Year: 2022

Corner cases for driving automation systems can often be detected by the system itself and subsequently resolved by remote humans. There exists a wide variety of technical approaches on how remote humans can resolve such issues. Over multiple domains, no common taxonomy on those approaches has developed yet, though. As the scaling of automated driving systems continues to increase, a uniform taxonomy is desirable to improve communication within the scientific community, but also beyond to policymakers and the general public. In this paper, we provide a survey on recent terminologies and propose a taxonomy for remote human input systems, classifying the different approaches based on their complexity.
Low-complexity Robust Optimization for an IRS-assisted Multi-Cell Network
Venue: arXiv cs.IT 2022
Year: 2022

The impacts of channel estimation errors, inter-cell interference, phase adjustment cost, and computation cost on an intelligent reflecting surface (IRS)-assisted system are severe in practice but have been ignored for simplicity in most existing works. In this paper, we investigate a multi-antenna base station (BS) serving a single-antenna user with the help of a multi-element IRS in the presence of channel estimation errors and inter-cell interference. We consider imperfect channel state information (CSI) at the BS, i.e., imperfect CSIT, and focus on the robust optimization of the BS's instantaneous CSI-adaptive beamforming and the IRS's quasi-static phase shifts. First, we formulate the robust optimization of the BS's instantaneous channel state information (CSI)-adaptive beamforming and IRS's quasi-static phase shifts for the ergodic rate maximization as a very challenging two-timescale stochastic non-convex problem. Then, we obtain a closed-form beamformer for any given phase shifts and a more tractable single-timescale stochastic non-convex problem only for phase shifts. Next, we propose a low-complexity stochastic algorithm to obtain quasi-static phase shifts which correspond to a KKT point of the single-timescale stochastic problem. It is worth noting that the proposed method offers a closed-form robust instantaneous CSI-adaptive beamforming design that can promptly adapt to rapid CSI changes over slots and a robust quasi-static phase shift design of low computation and phase adjustment costs in the presence of channel estimation errors and inter-cell interference. Finally, numerical results demonstrate the notable gains of the proposed robust joint design over existing ones and reveal the practical values of the proposed solutions.
Inductive Conformal Recommender System
Venue: arXiv cs.LG 2022
Year: 2022

Traditional recommendation algorithms develop techniques that can help people to choose desirable items. However, in many real-world applications, along with a set of recommendations, it is also essential to quantify each recommendation's (un)certainty. The conformal recommender system uses the experience of a user to output a set of recommendations, each associated with a precise confidence value. Given a significance level $\varepsilon$, it provides a bound $\varepsilon$ on the probability of making a wrong recommendation. The conformal framework uses a key concept called \emph{nonconformity measure} that measures the strangeness of an item concerning other items. One of the significant design challenges of any conformal recommendation framework is integrating nonconformity measures with the recommendation algorithm. This paper introduces an inductive variant of a conformal recommender system. We propose and analyze different nonconformity measures in the inductive setting. We also provide theoretical proofs on the error-bound and the time complexity. Extensive empirical analysis on ten benchmark datasets demonstrates that the inductive variant substantially improves the performance in computation time while preserving the accuracy.
Wellbeing supportive design -- Research-based guidelines for supporting psychological wellbeing in user experience
Venue: arXiv cs.HC 2022
Year: 2022

While human beings have a right to digital experiences that support, rather than diminish, their psychological wellbeing, technology designers lack research-based practices for ensuring psychological needs are met. To help address this gap, we draw on findings from over 30 years of research in psychology (specifically, self-determination theory) that has identified contextual factors shown to support psychological wellbeing. We translate these findings into a list of 15 heuristics and 30 design strategies to provide technology makers with theoretically grounded, research-based, and actionable ways to support wellbeing in user experience.
On the Dynamics of Political Discussions on Instagram: A Network Perspective
Venue: arXiv cs.SI 2022
Year: 2022

Instagram has been increasingly used as a source of information especially among the youth. As a result, political figures now leverage the platform to spread opinions and political agenda. We here analyze online discussions on Instagram, notably in political topics, from a network perspective. Specifically, we investigate the emergence of communities of co-commenters, that is, groups of users who often interact by commenting on the same posts and may be driving the ongoing online discussions. In particular, we are interested in salient co-interactions, i.e., interactions of co-commenters that occur more often than expected by chance and under independent behavior. Unlike casual and accidental co-interactions which normally happen in large volumes, salient co-interactions are key elements driving the online discussions and, ultimately, the information dissemination. We base our study on the analysis of 10 weeks of data centered around major elections in Brazil and Italy, following both politicians and other celebrities. We extract and characterize the communities of co-commenters in terms of topological structure, properties of the discussions carried out by community members, and how some community properties, notably community membership and topics, evolve over time. We show that communities discussing political topics tend to be more engaged in the debate by writing longer comments, using more emojis, hashtags and negative words than in other subjects. Also, communities built around political discussions tend to be more dynamic, although top commenters remain active and preserve community membership over time. Moreover, we observe a great diversity in discussed topics over time: whereas some topics attract attention only momentarily, others, centered around more fundamental political discussions, remain consistently active over time.
TempNet -- Temporal Super Resolution of Radar Rainfall Products with Residual CNNs
Venue: arXiv cs.CV 2022
Year: 2022

The temporal and spatial resolution of rainfall data is crucial for environmental modeling studies in which its variability in space and time is considered as a primary factor. Rainfall products from different remote sensing instruments (e.g., radar, satellite) have different space-time resolutions because of the differences in their sensing capabilities and post-processing methods. In this study, we developed a deep learning approach that augments rainfall data with increased time resolutions to complement relatively lower resolution products. We propose a neural network architecture based on Convolutional Neural Networks (CNNs) to improve the temporal resolution of radar-based rainfall products and compare the proposed model with an optical flow-based interpolation method and CNN-baseline model. The methodology presented in this study could be used for enhancing rainfall maps with better temporal resolution and imputation of missing frames in sequences of 2D rainfall maps to support hydrological and flood forecasting studies.
Can online attention signals help fact-checkers fact-check?
Venue: arXiv cs.CY 2022
Year: 2022

Recent research suggests that not all fact-checking efforts are equal: when and what is fact-checked plays a pivotal role in effectively correcting misconceptions. In that context, signals capturing how much attention specific topics receive on the Internet have the potential to study (and possibly support) fact-checking efforts. This paper proposes a framework to study fact-checking with online attention signals. The framework consists of: 1) extracting claims from fact-checking efforts; 2) linking such claims with knowledge graph entities; and 3) estimating the online attention these entities receive. We use this framework to conduct a preliminary study of a dataset of 879 COVID-19-related fact-checks done in 2020 by 81 international organizations. Our findings suggest that there is often a disconnect between online attention and fact-checking efforts. For example, in around 40% of countries that fact-checked ten or more claims, half or more than half of the ten most popular claims were not fact-checked. Our analysis also shows that claims are first fact-checked after receiving, on average, 35% of the total online attention they would eventually receive in 2020. Yet, there is a considerable variation among claims: some were fact-checked before receiving a surge of misinformation-induced online attention; others are fact-checked much later. Overall, our work suggests that the incorporation of online attention signals may help organizations assess their fact-checking efforts and choose what and when to fact-check claims or stories. Also, in the context of international collaboration, where claims are fact-checked multiple times across different countries, online attention could help organizations keep track of which claims are "migrating" between countries.
Unsupervised Cycle-consistent Generative Adversarial Networks for Pan-sharpening
Venue: arXiv cs.CV 2022
Year: 2022

Deep learning based pan-sharpening has received significant research interest in recent years. Most of existing methods fall into the supervised learning framework in which they down-sample the multi-spectral (MS) and panchromatic (PAN) images and regard the original MS images as ground truths to form training samples. Although impressive performance could be achieved, they have difficulties generalizing to the original full-scale images due to the scale gap, which makes them lack of practicability. In this paper, we propose an unsupervised generative adversarial framework that learns from the full-scale images without the ground truths to alleviate this problem. We extract the modality-specific features from the PAN and MS images with a two-stream generator, perform fusion in the feature domain, and then reconstruct the pan-sharpened images. Furthermore, we introduce a novel hybrid loss based on the cycle-consistency and adversarial scheme to improve the performance. Comparison experiments with the state-of-the-art methods are conducted on GaoFen-2 and WorldView-3 satellites. Results demonstrate that the proposed method can greatly improve the pan-sharpening performance on the full-scale images, which clearly show its practical value. Codes are available at https://github.com/zhysora/UCGAN.
Contrastive Learning of Subject-Invariant EEG Representations for Cross-Subject Emotion Recognition
Venue: arXiv cs.HC 2022
Year: 2022

EEG signals have been reported to be informative and reliable for emotion recognition in recent years. However, the inter-subject variability of emotion-related EEG signals still poses a great challenge for the practical applications of EEG-based emotion recognition. Inspired by recent neuroscience studies on inter-subject correlation, we proposed a Contrastive Learning method for Inter-Subject Alignment (CLISA) to tackle the cross-subject emotion recognition problem. Contrastive learning was employed to minimize the inter-subject differences by maximizing the similarity in EEG signal representations across subjects when they received the same emotional stimuli in contrast to different ones. Specifically, a convolutional neural network was applied to learn inter-subject aligned spatiotemporal representations from EEG time series in contrastive learning. The aligned representations were subsequently used to extract differential entropy features for emotion classification. CLISA achieved state-of-the-art cross-subject emotion recognition performance on our THU-EP dataset with 80 subjects and the publicly available SEED dataset with 15 subjects. It could generalize to unseen subjects or unseen emotional stimuli in testing. Furthermore, the spatiotemporal representations learned by CLISA could provide insights into the neural mechanisms of human emotion processing.
On the representation of non-holonomic univariate power series
Venue: arXiv cs.SC 2022
Year: 2022

Holonomic functions play an essential role in Computer Algebra since they allow the application of many symbolic algorithms. Among all algorithmic attempts to find formulas for power series, the holonomic property remains the most important requirement to be satisfied by the function under consideration. The targeted functions mainly summarize that of meromorphic functions. However, expressions like $\tan(z)$, $z/(\exp(z)-1)$, $\sec(z)$, etc., particularly, reciprocals, quotients and compositions of holonomic functions, are generally not holonomic. Therefore their power series are inaccessible by the holonomic framework. From the mathematical dictionaries, one can observe that most of the known closed-form formulas of non-holonomic power series involve another sequence whose evaluation depends on some finite summations. In the case of $\tan(z)$ and $\sec(z)$ the corresponding sequences are the Bernoulli and Euler numbers, respectively. Thus providing a symbolic approach that yields complete representations when linear summations for power series coefficients of non-holonomic functions appear, might be seen as a step forward towards the representation of non-holonomic power series. By adapting the method of ansatz with undetermined coefficients, we build an algorithm that computes least-order quadratic differential equations with polynomial coefficients for a large class of non-holonomic functions. A differential equation resulting from this procedure is converted into a recurrence equation by applying the Cauchy product formula and rewriting powers into polynomials and derivatives into shifts. Finally, using enough initial values we are able to give normal form representations to characterize several non-holonomic power series and prove non-trivial identities. We discuss this algorithm and its implementation for Maple 2022.